Q: clutch is not getting enough separation

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When I press the pedal on my clutch, it doesn't not separate fully, it is close and I can shift gears while already moving but once stopped I have to put the truck in gear while turned off and start the truck either in first or reverse. When I put it in first while stopped and take my foot off the brake, it slowly creeps forward. I've already gone under neath the truck and adjusted the clutch as far as it will go and it still is not getting the right amount of separation. Will I have to take out the entire transmission to fix it?

My car has 165000 miles.
My car has a manual transmission.

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